With quite some delay, but in good shape, the new RTT and OCL releases
have arrived. We decided to set the 'major' version numbers (1.4) of the RTT
and OCL equal, such that it is easier for users to match them.

Most importantly, Debian 'etch' packages are available thanks to a very
helpful user. We provide the RTT for standard Linux (-gnulinux) RTAI/LXRT
(-lxrt) and Xenomai (-xenomai). The OCL is currently only available for
standard Linux and LXRT. Also, not all OCL components are available yet,
particularly those depending on KDL. You can find them here:

deb http://svn.fmtc.be/debian etch main

We used the Xenomai packages from:

deb http://zathras.tuxcnc.org/xenomai sid main

You can type
apt-get install orocos-ocl-gnulinux-bin orocos-ocl-gnulinux-dev
to get all the OCL packages for standard Linux. There are device drivers for
Comedi and the peak-systems can driver. Use
apt-get install peak-linux-driver-modules-2.6.18-5-686 comedi-modules-2.6.18-5.686
for obtaining them.

You can then start the OCL deployer application[1] with 'deployer-gnulinux' or
start the CORBA enabled variants with 'cdeployer-gnulinux' (server)
and 'ctaskbrowser-gnulinux' (remote console).
For setting up CORBA correctly, see the CORBA section in the Component
Builder's Manual.

For LXRT, the RTT/OCL packages and executables have the -lxrt suffix. A
pre-packaged RTAI kernel is available as well, with Comedi support. However,
not all device drivers are enabled, but it should boot most 'i386' systems.
The RTAI kernel version is 2.6.19-rtai-ipipe-1.7-01

See below for the official release notes. If you have any problems or
questions, you can contact us on the Orocos-users forum:
or post directly to the orocos-users mailing list.

The Orocos Real-Time Toolkit v1.4.0.
The Orocos development team is pleased to announce the third major
feature release of the Real-Time Toolkit, a C++ toolkit for building
component based, real-time robotics and machine control applications.

You can download this release from
and read the installation instructions on

The Real-Time Toolkit (RTT) library allows application designers to
build highly configurable and interactive component-based real-time
control applications. You might use it to:

* Control devices ranging from sensors to complete robots
* Capture and plot the data flows between components
* Tune your algorithms at run-time
* Write your controller as a hierarchical state machine
* Interact with your devices directly from a GUI or command prompt
* Extend it with your own data types
* Configure components and the application from XML files
* Extend your legacy control applications with all the above
* Run it on standard operating systems as well as dedicated real-time
systems

This release has improved how components can communicate over a
network, allowing to choose a communication protocol at runtime
instead of compile time. Also component compile times and memory footprints
have drastically improved.
This release's major feature highlights are:

If you'd like a high level overview of the Orocos libraries, visit
If you'd like to get started building your own components, visit

This release is backwards compatible with the 1.0.x and 1.2.x releases,
although
some functionality has been deprecated or alternative usage patterns
are preferred. These and other changes and improvements can be found
in the Orocos RTT Changes document on

Orocos Components Library (OCL) v1.4.0
This release of the Orocos Components Library is aimed at the
Real-Time Toolkit v1.4.0. and offers improved functionality for
loading and configuring components dynamically at run-time. The OCL
major version (1.4) has been made identical to the RTT major version
in order to ease matching the correct versions of both libraries. Some
components of the OCL library are now also available as Debian 4.0
'Etch' packages from
deb http://svn.fmtc.be/debian etch main

A new stand-alone applications has been added as well:
cdeployer: loads other components into the current process and
is accessible over a network using the CORBA transport.

On Tuesday November 27 2007 16:46:46 Peter Soetens wrote:
> With quite some delay, but in good shape, the new RTT and OCL releases
> have arrived. We decided to set the 'major' version numbers (1.4) of the
> RTT and OCL equal, such that it is easier for users to match them.
>
> Most importantly, Debian 'etch' packages are available thanks to a very
> helpful user. We provide the RTT for standard Linux (-gnulinux) RTAI/LXRT
> (-lxrt) and Xenomai (-xenomai). The OCL is currently only available for
> standard Linux and LXRT. Also, not all OCL components are available yet,
> particularly those depending on KDL. You can find them here:
>
> deb http://svn.fmtc.be/debian etch main
>

A Divendres 30 Novembre 2007, Ruben Smits va escriure:
> On Tuesday November 27 2007 16:46:46 Peter Soetens wrote:
> > With quite some delay, but in good shape, the new RTT and OCL releases
> > have arrived. We decided to set the 'major' version numbers (1.4) of the
> > RTT and OCL equal, such that it is easier for users to match them.
> >
> > Most importantly, Debian 'etch' packages are available thanks to a very
> > helpful user. We provide the RTT for standard Linux (-gnulinux)
> > RTAI/LXRT (-lxrt) and Xenomai (-xenomai). The OCL is currently only
> > available for standard Linux and LXRT. Also, not all OCL components are
> > available yet, particularly those depending on KDL. You can find them
> > here:
> >
> > deb http://svn.fmtc.be/debian etch main
>
> [...]
>
> > * Debian packages for Debian Etch at
> > deb http://svn.fmtc.be/debian etch contrib
>
> Is it also possible to supply ubuntu packages?

it should be recompiled and adjusted the dependencies I think, so it's not an
easy thing. Maybe there's some ubuntu users that would like to help on this
and we can make some kind of deb-packagers team, or similar..

On Friday November 30 2007 08:53:52 Ruben Smits wrote:
> On Tuesday November 27 2007 16:46:46 Peter Soetens wrote:
> > With quite some delay, but in good shape, the new RTT and OCL releases
> > have arrived. We decided to set the 'major' version numbers (1.4) of the
> > RTT and OCL equal, such that it is easier for users to match them.
> >
> > Most importantly, Debian 'etch' packages are available thanks to a very
> > helpful user. We provide the RTT for standard Linux (-gnulinux)
> > RTAI/LXRT (-lxrt) and Xenomai (-xenomai). The OCL is currently only
> > available for standard Linux and LXRT. Also, not all OCL components are
> > available yet, particularly those depending on KDL. You can find them
> > here:
> >
> > deb http://svn.fmtc.be/debian etch main
>
> [...]
>
> > * Debian packages for Debian Etch at
> > deb http://svn.fmtc.be/debian etch contrib
>
> Is it also possible to supply ubuntu packages?
>
> Adding these lines to my apt-sources do not enable orocos packages
> installation on my ubuntu installation.

Ok, i found the problem, it was not the ubuntu installation, packages
seem to be installable but only on a i386 system, apparently there are
no x86_64 packages available yet? Is someone on this, otherwise i
would be glad to help with that.

A Divendres 30 Novembre 2007, Ruben Smits va escriure:
> On Friday November 30 2007 08:53:52 Ruben Smits wrote:
> > On Tuesday November 27 2007 16:46:46 Peter Soetens wrote:
> > > With quite some delay, but in good shape, the new RTT and OCL releases
> > > have arrived. We decided to set the 'major' version numbers (1.4) of
> > > the RTT and OCL equal, such that it is easier for users to match them.
> > >
> > > Most importantly, Debian 'etch' packages are available thanks to a very
> > > helpful user. We provide the RTT for standard Linux (-gnulinux)
> > > RTAI/LXRT (-lxrt) and Xenomai (-xenomai). The OCL is currently only
> > > available for standard Linux and LXRT. Also, not all OCL components are
> > > available yet, particularly those depending on KDL. You can find them
> > > here:
> > >
> > > deb http://svn.fmtc.be/debian etch main
> >
> > [...]
> >
> > > * Debian packages for Debian Etch at
> > > deb http://svn.fmtc.be/debian etch contrib
> >
> > Is it also possible to supply ubuntu packages?
> >
> > Adding these lines to my apt-sources do not enable orocos packages
> > installation on my ubuntu installation.
>
> Ok, i found the problem, it was not the ubuntu installation, packages
> seem to be installable but only on a i386 system,

ummm, nice to ear it. I thought that the dependencies or whatever are the
problem

> apparently there are
> no x86_64 packages available yet? Is someone on this, otherwise i
> would be glad to help with that.

the amd64 packages are built. Peter was working on a i386 box and I was
working on a amd64 box. You can rebuilt the packages from the i386 version
without any problem. The _only_ issue is the dependencies, that Peter have
done a good job and all are in the fmtc server (libpcan, comedi-modules -fmtc
version-, etc).